EP3998451C0 - Procédé de pilotage, transporteur mobile et système de pilotage - Google Patents

Procédé de pilotage, transporteur mobile et système de pilotage

Info

Publication number
EP3998451C0
EP3998451C0 EP20837065.0A EP20837065A EP3998451C0 EP 3998451 C0 EP3998451 C0 EP 3998451C0 EP 20837065 A EP20837065 A EP 20837065A EP 3998451 C0 EP3998451 C0 EP 3998451C0
Authority
EP
European Patent Office
Prior art keywords
navigation
mobile carrier
navigation system
navigation method
carrier
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP20837065.0A
Other languages
German (de)
English (en)
Other versions
EP3998451A4 (fr
EP3998451A1 (fr
EP3998451B1 (fr
Inventor
Han Lin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hai Robotics Co Ltd
Original Assignee
Hai Robotics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hai Robotics Co Ltd filed Critical Hai Robotics Co Ltd
Publication of EP3998451A1 publication Critical patent/EP3998451A1/fr
Publication of EP3998451A4 publication Critical patent/EP3998451A4/fr
Application granted granted Critical
Publication of EP3998451C0 publication Critical patent/EP3998451C0/fr
Publication of EP3998451B1 publication Critical patent/EP3998451B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP20837065.0A 2019-07-11 2020-07-08 Procédé de pilotage, transporteur mobile et système de pilotage Active EP3998451B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910625924.3A CN112214012A (zh) 2019-07-11 2019-07-11 一种导航方法、移动载体及导航系统
PCT/CN2020/100879 WO2021004483A1 (fr) 2019-07-11 2020-07-08 Procédé de pilotage, transporteur mobile et système de pilotage

Publications (4)

Publication Number Publication Date
EP3998451A1 EP3998451A1 (fr) 2022-05-18
EP3998451A4 EP3998451A4 (fr) 2022-08-17
EP3998451C0 true EP3998451C0 (fr) 2024-05-22
EP3998451B1 EP3998451B1 (fr) 2024-05-22

Family

ID=74047681

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20837065.0A Active EP3998451B1 (fr) 2019-07-11 2020-07-08 Procédé de pilotage, transporteur mobile et système de pilotage

Country Status (4)

Country Link
US (1) US20220128998A1 (fr)
EP (1) EP3998451B1 (fr)
CN (1) CN112214012A (fr)
WO (1) WO2021004483A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112977443B (zh) * 2021-03-23 2022-03-11 中国矿业大学 一种井下无人驾驶无轨胶轮车的路径规划方法
CN113838097B (zh) * 2021-09-29 2024-01-09 成都新潮传媒集团有限公司 摄像机镜头角度偏离检测方法、装置及存储介质
CN114132679A (zh) * 2021-10-29 2022-03-04 北京极智嘉科技股份有限公司 基于货架标识的导航系统、方法
WO2023061501A1 (fr) * 2021-10-15 2023-04-20 北京极智嘉科技股份有限公司 Système et procédé de navigation basés sur un identifiant de support de stockage

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9908702B2 (en) * 2016-02-05 2018-03-06 Invia Robotics, Inc. Robotic navigation and mapping
US9864377B2 (en) * 2016-04-01 2018-01-09 Locus Robotics Corporation Navigation using planned robot travel paths
CN105974922B (zh) * 2016-06-29 2019-05-17 上海诺力智能科技有限公司 一种巷道自动导引车、导引系统及其操作方法
US10289990B2 (en) * 2016-10-17 2019-05-14 Conduent Business Services, Llc Store shelf imaging system and method
DE102016122485A1 (de) * 2016-11-22 2018-05-24 Jungheinrich Aktiengesellschaft Verfahren zur Bereitstellung der Positionen von Lagerplätzen in einem Lager und Flurförderzeug
CN108051007A (zh) * 2017-10-30 2018-05-18 上海神添实业有限公司 基于超声波组网和立体视觉的agv导航定位方法
CN109990784A (zh) * 2017-12-30 2019-07-09 广州大正新材料科技有限公司 一种超市导航系统及方法
CN114999308A (zh) * 2018-11-19 2022-09-02 深圳市海柔创新科技有限公司 地图生成方法、装置、计算机可读存储介质和计算机设备

Also Published As

Publication number Publication date
CN112214012A (zh) 2021-01-12
EP3998451A4 (fr) 2022-08-17
US20220128998A1 (en) 2022-04-28
EP3998451A1 (fr) 2022-05-18
EP3998451B1 (fr) 2024-05-22
WO2021004483A1 (fr) 2021-01-14

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